CN206344142U - A kind of light-duty multi-axis robot - Google Patents
A kind of light-duty multi-axis robot Download PDFInfo
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- CN206344142U CN206344142U CN201621445670.5U CN201621445670U CN206344142U CN 206344142 U CN206344142 U CN 206344142U CN 201621445670 U CN201621445670 U CN 201621445670U CN 206344142 U CN206344142 U CN 206344142U
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- axis
- motor
- forearm
- ancon
- wrist
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Abstract
The utility model discloses a kind of light-duty multi-axis robot, including base, shoulder, large arm, ancon, forearm, wrist and end structure, the shoulder can be rotatably arranged in the base around first axle；The large arm can be rotatably arranged in the shoulder around second axis；The ancon can be rotatably arranged in the large arm around the 3rd axis；The forearm can be rotatably arranged in the ancon around four axistyle；The wrist can be rotatably arranged in the forearm around the 5th axis；The end structure can be rotatably arranged in the wrist around the 6th axis；Forearm motor is located at ancon by the utility model, wrist motor and end motor are located on forearm close to the side of ancon so that the center of gravity of forearm is close to forearm and the connecting portion of wrist, so as to alleviate the load of end, it is to avoid increase rigidity by thickening body.Meanwhile, end structure of the present utility model realizes the motion of six-freedom degree, improves the flexibility of action.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of light-duty multi-axis robot.
Background technology
With the progress that science and technology is with rapid changepl. never-ending changes and improvements, industrial robot turns into composition portion important in current industrial production
Point, it can accurately complete panoramic task and operation very much, such as welding, cutting, carrying.Wherein, it is existing many
Axle robot, because its arm scope of activities is wider, end effector heavy burden is larger, in the presence of lever force, to robot
The rigid requirements of body are higher, in general, in order to improve the rigidity of robot body, often real using the method for thickening body
It is existing, for example increase the thickness of large arm and forearm.But, work multi-axis robot is in operation, the requirement on flexibility of its arm activity
Very high, the weight of increase arm often influences the flexibility of arm, while can also increase the load of motor, influences the longevity of motor
Life.Therefore, need badly it is a kind of both possessed higher flexibility, end load is lighter, while the multiaxis that body is lightweight and rigidity is high
Robot.
The content of the invention
In order to solve the above problems, the present invention provides a kind of light-duty multi-axis robot, its body lighter in weight and flexibility
Height, end load is smaller.
To achieve the above object, the present invention is achieved by following technical scheme：
A kind of light-duty multi-axis robot of the present invention, including be sequentially connected with base, shoulder, large arm, ancon, forearm,
Wrist and end structure, it is characterised in that：
The shoulder can be rotatably arranged in the base around first axle；
The large arm can be rotatably arranged in the shoulder around second axis；
The ancon can be rotatably arranged in the large arm around the 3rd axis；
The forearm can be rotatably arranged in the ancon around four axistyle；
The wrist can be rotatably arranged in the forearm around the 5th axis；
The end structure can be rotatably arranged in the wrist around the 6th axis；
The first axle is the vertical curve for being located at base and shoulder connecting portion, and four axistyle is forearm its length side
To central axis, the 6th axis is the central axis of end structure；
The first axle and second axis are orthogonal, and the second axis, the 3rd axis and the 5th axis are mutually equal
OK, the four axistyle and the 6th axis are vertical with the 5th axis respectively；
Also including the forearm motor for being used to drive forearm to rotate, the wrist motor for driving wrist rotation and for driving
End motor that end structure is rotated, the forearm motor is located on ancon, and the motor shaft and forearm of the forearm motor
First end is connected, and the wrist motor and end motor are in the fixed first end being located at close to forearm.
Further, the ancon includes a sleeve, and the forearm motor is located in sleeve；
The first end of the forearm is enclosed in sleeve by clutch shaft bearing and is connected with the motor shaft of forearm motor；
The forearm motor drives forearm around around four axistyle rotation.
Further, the sleeve of also described ancon is provided with gusset, and the gusset is provided with through hole, and the ancon passes through this
Through hole is connected with large arm.
Further, also described wrist is located at the second end of forearm, wrist motor by the first transmission belt drive wrist around
5th axis oscillating.
Further, intermeshing first bevel gear and the second bevel gear are provided with also described wrist；
The wrist is embedded in the groove provided with the groove with latter end respective outer side edges, the end structure；
First bevel gear and end motor are connect by the second belt mechanism, and the second bevel gear and end structure are fixed and connected
Connect；
The end motor drives tail house around the 6th axle by the second transmission belt, the first bevel gear and the second bevel gear
Line is rotated.
Further, thrust bearing is provided between the groove end face and end structure of also described wrist.
Further, in addition to the shoulder motor for driving shoulder to be rotated around first axle, the shoulder passes through shoulder
Motor is connected with base drive.
Further, in addition to the large arm motor for driving large arm to be rotated around second axis, the large arm passes through large arm
Motor is connected with shoulder.
Further, also described large arm is the frame structure of middle part hollow out.
Further, in addition to the ancon motor for driving ancon to be rotated around the 3rd axis, the ancon passes through ancon
Motor is connected with large arm.
Compared with prior art, the beneficial effects of the invention are as follows：Forearm motor is located at ancon by the present invention, wrist motor and
End motor be located on forearm close to ancon side so that the center of gravity of forearm close to forearm and the connecting portion of wrist so that
Alleviate the load of end, it is to avoid increase rigidity by thickening body, alleviate this body weight.Meanwhile, end of the invention
Structure realizes the motion of six-freedom degree, improves the flexibility of action.
Brief description of the drawings
The embodiment to the present invention is described in further detail below in conjunction with the accompanying drawings, wherein：
Fig. 1 is a kind of structural representation of light-duty multi-axis robot of the present invention；
Fig. 2 is a kind of side view of light-duty multi-axis robot of the present invention；
Fig. 3 is the ancon of the present invention and the installation diagram of forearm；
Fig. 4 is the structural representation of the forearm of the present invention；
Fig. 5 is the explosive view of the forearm of the present invention.
In figure：1st, base；2nd, shoulder；3rd, large arm；4th, ancon；5th, forearm；6th, wrist；7th, end structure；21st, shoulder electricity
Machine；31st, large arm motor；41st, ancon motor；51st, forearm motor；61st, wrist motor；71st, end motor.
Embodiment
The preferred embodiments of the present invention are illustrated below in conjunction with accompanying drawing, it will be appreciated that preferred reality described herein
Apply example to be merely to illustrate and explain the present invention, be not intended to limit the present invention.
As shown in Fig. 1~Fig. 2, a kind of light-duty multi-axis robot of the present invention, including base 1, shoulder 2, large arm 3,
Ancon 4, forearm 5, wrist 6 and end structure 7.
In order to more compactly describe that six virtual axis, respectively first are set in technical scheme, Fig. 1
Axis S1, second axis S2, the 3rd axis S3, four axistyle S4, the 5th axis S5, the 6th axis S6.
Shoulder 2 is provided with shoulder motor 21, and the motor shaft of shoulder motor 21 is connected with shoulder 2, and shoulder motor 21 drives shoulder
The first axle S1 of portion 2 is rotated；Large arm 3 is provided with large arm motor 31, and the motor shaft of large arm motor 31 is connected with large arm 2, large arm electricity
Machine 31 drives large arm 3 to be swung around second axis S2；Ancon 4 is provided with ancon motor 41, motor shaft and the ancon 4 of ancon motor 41
Connection, ancon motor 41 drives ancon 4 to be swung around the 3rd axis S3.
Present invention additionally comprises：For the shoulder motor 21 for driving shoulder 2 to be rotated around first axle S1, shoulder 2 passes through shoulder
Motor 21 is connected with base 1, and first axle S1 is the vertical curve of shoulder 2 and the connecting portion of base 1；For driving large arm
The 3 large arm motors 31 rotated around second axis S2, large arm 3 is connected by large arm motor 31 with shoulder 2, and second axis S2 is
For shoulder and the horizontal line of large arm connecting portion,；For the ancon motor 41 for driving ancon 4 to be rotated around the 3rd axis S3, ancon 4
It is connected by ancon motor 41 with large arm 3, the 3rd axis S3 is the horizontal line of ancon and large arm connecting portion.
Present invention additionally comprises arm motor 51, forearm motor 51 is located on ancon 4 and is connected with the first end 52 of forearm 5.Elbow
Portion 4 includes a sleeve 42 and the gusset 43 being located on sleeve, and forearm motor 51 is located in sleeve 42, at the opening of sleeve 42 in set
There is clutch shaft bearing 54, the first end 52 of forearm 5 is small by being enclosed in clutch shaft bearing 54 and being connected with the motor shaft of forearm motor 51
Arm motor 51 starts, and drives forearm 5 around four axistyle S4, rotation four axistyle S4 is the axis in its length direction of forearm 5,
Therefore, forearm 5 does the autobiography motion around own axes.The gusset 43 of ancon 4 is provided with through hole 431, and ancon 4 passes through through hole 431
It is hinged with large arm 3, in the present embodiment, the 3rd axis S3 is to be additionally provided with ancon on the axis of through hole 431, the gusset 43 of ancon 4
Motor 41, ancon motor 41 drives all parts on ancon and forearm to be swung around the 3rd axis S3.
Because arm motor 51 is located at ancon, thus the centroidal distance ancon 4 of forearm motor 51 and the connecting portion of large arm 3 compared with
Closely, equivalent to reducing 51 couple of the 3rd axis S3 of forearm motor torque, therefore the load of ancon motor 41 is reduced.Meanwhile,
Because forearm motor 51 is not arranged on forearm 5, it is to avoid Moment of the forearm 5 by forearm motor 51, reduce small
The rigidity requirement of arm 5.Compared to other multi-axis robots, the wobbling action of forearm 5 of the invention is complete under the drive of ancon 4
Into, what forearm 5 was completed is the action rotated around four axistyle S4, therefore the structure of forearm 5 itself is simpler, with ancon 4
Connected mode it is also simpler.
As a preferred embodiment, present invention additionally comprises wrist motor 61 and end motor 71, wrist motor 61
The side of the first end 52 close to forearm 5 is located at end motor 71 and is fixed on forearm.It is used as a kind of specific embodiment party
Formula, forearm 5 is provided with cavity 55, and wrist motor 61 and end motor 71 are fixed in cavity 55 side by side, and the motor shaft of the two
Output end is respectively perpendicular two sides for pointing to forearm 5.Wrist 6 is located at the second end 53 of forearm 5, is used as a kind of specific implementation
Mode, wrist 6 is T-shaped tubular structure, and the second end 53 of forearm is provided with U-shaped installation position 56, and wrist 6 is located in installation position 56 and two
Bearing is set between person, and wrist motor 61 drives wrist 6 to be swung around the 5th axis S5 by the first transmission belt 81, the 5th axis S5
For forearm 5 and the axis of the connecting portion connecting shaft of wrist 6.
The intermeshing bevel gear 92 of first bevel gear 91 and second, the edge of the first bevel gear 91 are provided with the intracavitary of wrist 6
Set, the second bevel gear 92 is set along perpendicular to the 5th axis S5 directions, set on wrist 6 parallel to the 5th axis S5 direction
There is the groove 62 coordinated with latter end structure 7, end structure 7 is enclosed in groove 62, in the present embodiment, groove 62 and end structure 7
Outline for cylinder.A via is additionally provided with groove 62, the second bevel gear 92 is located in the via.First bevel gear
91 and end motor 7 connected by the second transmission belt 82, the second bevel gear 92 and tail house 7 are connected, and end motor passes through
Two transmission belts 82, the first bevel gear 91 and the second bevel gear 92 drive tail house 7 to be rotated around the 6th axis S6, the 6th axis S6
It is the axis of end structure 7.Preferably, thrust bearing 10 is provided between the end face and end structure 7 of the groove 62 of wrist 6.
The cavity 55 of forearm 5 can mitigate forearm 5 weight of itself, in the course of the work, because forearm is close to work department
Position.Wrist motor 61 and end motor 71 are located at the side of the first end 52 in cavity 55 and close to forearm 5 so that the two
Center of gravity reduces the load of ancon motor 41 close to ancon 4 and the connecting portion of large arm 3, while also reducing suffered by forearm 5
Moment of flexure, reduces the rigidity requirement of forearm 5.
The connecting portion apart from ancon 4 and large arm 3 is arranged at due to forearm motor 51, wrist motor 61 and end motor 71
The nearer position in position, therefore moment of flexure suffered by large arm 3 also accordingly reduces, the weight of large arm 3 can also be reduced.In the present embodiment, greatly
Arm 3 is the frame structure of middle part hollow out, so the lighter in weight of the large arm 3 of the present invention, the load of motor is smaller.
As a preferred embodiment, first axle S1 and second axis S2 are orthogonal, second axis S2, the 3rd
Axis S3 and the 5th axis S5 are parallel to each other, and four axistyle S4 and the 6th axis S6 are vertical with the 5th axis S5 respectively.
Shoulder 2, large arm 3, ancon 4, forearm 5, the compound motion of wrist 6 and end structure 7 of the present invention makes end structure 7
The motion of 6 frees degree is realized, and the motion of six-freedom degree drives associated components to complete by six motors respectively, end structure
The different work of the completions such as welding gun, burning torch and shower nozzle can be installed on 7.
A kind of other structures of light-duty multi-axis robot of the present invention are referring to prior art.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, therefore
Every any modification that without departing from technical solution of the present invention content, the technical spirit according to the present invention is made to above example,
Equivalent variations and modification, in the range of still falling within technical solution of the present invention.
Claims (10)
1. a kind of light-duty multi-axis robot, including base, shoulder, large arm, ancon, forearm, wrist and the end knot being sequentially connected with
Structure, it is characterised in that：
The shoulder can be rotatably arranged in the base around first axle；
The large arm can be rotatably arranged in the shoulder around second axis；
The ancon can be rotatably arranged in the large arm around the 3rd axis；
The forearm can be rotatably arranged in the ancon around four axistyle；
The wrist can be rotatably arranged in the forearm around the 5th axis；
The end structure can be rotatably arranged in the wrist around the 6th axis；
The first axle is the vertical curve for being located at base and shoulder connecting portion, and four axistyle is forearm its length direction
Central axis, the 6th axis is the central axis of end structure；
The first axle and second axis are orthogonal, and the second axis, the 3rd axis and the 5th axis are parallel to each other, institute
State four axistyle and the 6th axis is vertical with the 5th axis respectively；
Also including the forearm motor for being used to drive forearm to rotate, the wrist motor for driving wrist rotation and for driving end
The end motor that structure is rotated, the forearm motor is located on ancon, and the forearm motor motor shaft and forearm first
End connection, the wrist motor and end motor are in the fixed first end being located at close to forearm.
2. a kind of light-duty multi-axis robot according to claim 1, it is characterised in that：
The ancon includes a sleeve, and the forearm motor is located in sleeve；
The first end of the forearm is enclosed in sleeve by clutch shaft bearing and is connected with the motor shaft of forearm motor；
The forearm motor drives forearm to be rotated around four axistyle.
3. a kind of light-duty multi-axis robot according to claim 2, it is characterised in that：The sleeve of the ancon is provided with muscle
Plate, the gusset is provided with through hole, and the ancon is connected by the through hole with large arm.
4. a kind of light-duty multi-axis robot according to claim 1, it is characterised in that：The wrist is located at the second of forearm
End, wrist motor drives wrist around the 5th axis oscillating by the first transmission belt.
5. a kind of light-duty multi-axis robot according to claim 4, it is characterised in that：
Intermeshing first bevel gear and the second bevel gear are provided with the wrist；
The wrist is embedded in the groove provided with the groove with latter end respective outer side edges, the end structure；
First bevel gear and end motor are connect by the second belt mechanism, and the second bevel gear is fixedly connected with end structure；
The end motor drives tail house to turn around the 6th axis by the second transmission belt, the first bevel gear and the second bevel gear
It is dynamic.
6. a kind of light-duty multi-axis robot according to claim 5, it is characterised in that：The groove end face of the wrist and end
Thrust bearing is provided between end structure.
7. a kind of light-duty multi-axis robot according to claim 1, it is characterised in that：Also include being used to drive shoulder around the
The shoulder motor of one axis rotation, the shoulder is connected by shoulder motor with base drive.
8. a kind of light-duty multi-axis robot according to claim 1, it is characterised in that：Also include being used to drive large arm around the
The large arm motor of two axis rotation, the large arm is connected by large arm motor and shoulder.
9. a kind of light-duty multi-axis robot according to claim 8, it is characterised in that：The large arm is the frame of middle part hollow out
Frame structure.
10. a kind of light-duty multi-axis robot according to claim 1, it is characterised in that：Also include be used for drive ancon around
The ancon motor of 3rd axis rotation, the ancon is connected by ancon motor and large arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621445670.5U CN206344142U (en) | 2016-12-27 | 2016-12-27 | A kind of light-duty multi-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621445670.5U CN206344142U (en) | 2016-12-27 | 2016-12-27 | A kind of light-duty multi-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206344142U true CN206344142U (en) | 2017-07-21 |
Family
ID=59321710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621445670.5U Expired - Fee Related CN206344142U (en) | 2016-12-27 | 2016-12-27 | A kind of light-duty multi-axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206344142U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881728A (en) * | 2017-04-28 | 2017-06-23 | 广西壮族自治区机械工业研究院 | The small arm mechanism of multi-joint industrial robot |
| CN107444902A (en) * | 2017-07-27 | 2017-12-08 | 大连大学 | A kind of automatic guided vehicle with automatic crawl function |
-
2016
- 2016-12-27 CN CN201621445670.5U patent/CN206344142U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881728A (en) * | 2017-04-28 | 2017-06-23 | 广西壮族自治区机械工业研究院 | The small arm mechanism of multi-joint industrial robot |
| CN107444902A (en) * | 2017-07-27 | 2017-12-08 | 大连大学 | A kind of automatic guided vehicle with automatic crawl function |
| CN108147111A (en) * | 2017-07-27 | 2018-06-12 | 大连大学 | A kind of manipulator for automatic guided vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170721 Termination date: 20191227 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |